infodlg.cpp

本程序是2005年参加中国机器人大赛的比赛程序

// InfoDlg.cpp : implementation file
//

#include "stdafx.h"
#include "Robocup.h"
#include "InfoDlg.h"
#include "DebugDlg.h"
#include "global.h"
#include "VideoDlg.h"

#ifdef _DEBUG
#define new DEBUG_NEW
#undef THIS_FILE
static char THIS_FILE[] = __FILE__;
#endif

/////////////////////////////////////////////////////////////////////////////
// CInfoDlg dialog


CInfoDlg::CInfoDlg(CWnd* pParent /*=NULL*/)
	: CDialog(CInfoDlg::IDD, pParent)
{
	//{{AFX_DATA_INIT(CInfoDlg)
	m_robot_angle = 0.0;
	m_robot_x_pos = 0.0;
	m_robot_y_pos = 0.0;
	m_ball_pos_x = 0.0;
	m_ball_pos_y = 0.0;
	m_robot_angle2 = 0.0;
	m_robot_angle3 = 0.0;
	m_robot_angle4 = 0.0;
	m_robot_angle5 = 0.0;
	m_robot_pos_x2 = 0.0;
	m_robot_pos_x3 = 0.0;
	m_robot_pos_x4 = 0.0;
	m_robot_pos_x5 = 0.0;
	m_robot_pos_y2 = 0.0;
	m_robot_pos_y3 = 0.0;
	m_robot_pos_y4 = 0.0;
	m_robot_pos_y5 = 0.0;
	m_robot1_vl = 0;
	m_robot2_vl = 0;
	m_robot3_vl = 0;
	m_robot4_vl = 0;
	m_robot5_vl = 0;
	m_robot5_vr = 0;
	m_robot4_vr = 0;
	m_robot3_vr = 0;
	m_robot2_vr = 0;
	m_robot1_vr = 0;
	m_command = 0;
	m_controltime = 0;
	//}}AFX_DATA_INIT
}


void CInfoDlg::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
	//{{AFX_DATA_MAP(CInfoDlg)
	DDX_Text(pDX, IDC_ROBOT_ANGLE, m_robot_angle);
	DDX_Text(pDX, IDC_ROBOT_X_POS, m_robot_x_pos);
	DDX_Text(pDX, IDC_ROBOT_Y_POS, m_robot_y_pos);
	DDX_Text(pDX, IDC_BALL_POS_X, m_ball_pos_x);
	DDX_Text(pDX, IDC_BALL_POS_Y, m_ball_pos_y);
	DDX_Text(pDX, IDC_ROBOT_ANGLE2, m_robot_angle2);
	DDX_Text(pDX, IDC_ROBOT_ANGLE3, m_robot_angle3);
	DDX_Text(pDX, IDC_ROBOT_ANGLE4, m_robot_angle4);
	DDX_Text(pDX, IDC_ROBOT_ANGLE5, m_robot_angle5);
	DDX_Text(pDX, IDC_ROBOT_X_POS2, m_robot_pos_x2);
	DDX_Text(pDX, IDC_ROBOT_X_POS3, m_robot_pos_x3);
	DDX_Text(pDX, IDC_ROBOT_X_POS4, m_robot_pos_x4);
	DDX_Text(pDX, IDC_ROBOT_X_POS5, m_robot_pos_x5);
	DDX_Text(pDX, IDC_ROBOT_Y_POS2, m_robot_pos_y2);
	DDX_Text(pDX, IDC_ROBOT_Y_POS3, m_robot_pos_y3);
	DDX_Text(pDX, IDC_ROBOT_Y_POS4, m_robot_pos_y4);
	DDX_Text(pDX, IDC_ROBOT_Y_POS5, m_robot_pos_y5);
	DDX_Text(pDX, IDC_ORDER1_L, m_robot1_vl);
	DDX_Text(pDX, IDC_ORDER2_L, m_robot2_vl);
	DDX_Text(pDX, IDC_ORDER3_L, m_robot3_vl);
	DDX_Text(pDX, IDC_ORDER4_L, m_robot4_vl);
	DDX_Text(pDX, IDC_ORDER5_L, m_robot5_vl);
	DDX_Text(pDX, IDC_ORDER5_R, m_robot5_vr);
	DDX_Text(pDX, IDC_ORDER4_R, m_robot4_vr);
	DDX_Text(pDX, IDC_ORDER3_R, m_robot3_vr);
	DDX_Text(pDX, IDC_ORDER2_R, m_robot2_vr);
	DDX_Text(pDX, IDC_ORDER1_R, m_robot1_vr);
	DDX_Text(pDX, IDC_BINARY, m_command);
	DDX_Text(pDX, IDC_CONTROLTIME, m_controltime);
	DDV_MinMaxUInt(pDX, m_controltime, 0, 300);
	//}}AFX_DATA_MAP
}


BEGIN_MESSAGE_MAP(CInfoDlg, CDialog)
	//{{AFX_MSG_MAP(CInfoDlg)
	ON_WM_CREATE()
	ON_BN_CLICKED(IDC_DISPLAY, OnDisplay)
	ON_BN_CLICKED(IDC_DECPROC, OnDecproc)
	ON_BN_CLICKED(IDC_ONESTEP, OnOnestep)
	ON_BN_CLICKED(IDC_TURNANDMOVE, OnTurnandmove)
	ON_BN_CLICKED(IDC_SEND, OnSend)
	ON_BN_CLICKED(IDC_BUTTON1, OnTimeControlSend)
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CInfoDlg message handlers


int CInfoDlg::OnCreate(LPCREATESTRUCT lpCreateStruct) 
{
	if (CDialog::OnCreate(lpCreateStruct) == -1)
		return -1;
	
	// TODO: Add your specialized creation code here
//	UpdateData( TRUE ) ;

//	m_robot_y_pos = g_MyTeam[m_pDebugDlg->m_Num].Get_vPos().y;
//	m_robot_num = m_pDebugDlg->m_Num;
	return 0;
}


void CInfoDlg::OnDisplay() 
{
	// TODO: Add your control notification handler code here
//	CVideoDlg::m_pVideoDlg->OnRead();
//	CVideoDlg::m_pVideoDlg->SearchObject();	
	//角度显示：
	m_robot_angle =  g_MyTeam[1].m_Angle ;
	m_robot_angle2 = g_MyTeam[2].m_Angle ;
	m_robot_angle3 = g_MyTeam[3].m_Angle ;
	m_robot_angle4 = g_MyTeam[4].m_Angle ;
	m_robot_angle5 = g_MyTeam[5].m_Angle ;

	//横坐标显示：
	m_robot_x_pos =  g_MyTeam[1].m_vPos.x;
	m_robot_pos_x2 = g_MyTeam[2].m_vPos.x;
	m_robot_pos_x3 = g_MyTeam[3].m_vPos.x;
	m_robot_pos_x4 = g_MyTeam[4].m_vPos.x;
	m_robot_pos_x5 = g_MyTeam[5].m_vPos.x;

	//纵坐标显示：
	m_robot_y_pos =  g_MyTeam[1].m_vPos.y;
	m_robot_pos_y2 = g_MyTeam[2].m_vPos.y;
	m_robot_pos_y3 = g_MyTeam[3].m_vPos.y;
	m_robot_pos_y4 = g_MyTeam[4].m_vPos.y;
	m_robot_pos_y5 = g_MyTeam[5].m_vPos.y;

	//球的位置显示
	m_ball_pos_x = g_Ball.m_vPos.x ;
	m_ball_pos_y = g_Ball.m_vPos.y ;

	//纪录扫描出来的数据
	FILE *pFILE ;
	pFILE = fopen( "Infomation of the robots.txt" , "a+" );
	for ( int i = 1 ; i < 6 ; i++ )
	{
		fprintf( pFILE , "Robot %d--- x: %f  y:%f  angle:%f\n", i , g_MyTeam[i].m_vPos.x , g_MyTeam[i].m_vPos.y , g_MyTeam[i].m_Angle ) ;
		if( i == 5 )
		{
			fprintf( pFILE , "\n\n" ) ;
		}
	}
	fclose ( pFILE ) ;

//	ASSERT( TRUE ) ;
	UpdateData( FALSE ) ;
}

void CInfoDlg::OnDecproc() 
{
	// TODO: Add your control notification handler code here
/*	int n[6];
	for ( int i = 1 ; i <6 ; i++ )
	{
		g_Deci[i].ChooseDots( g_MyTeam[i] );
		n[i] = g_Deci[i].ComputeIndex1( g_MyTeam[i] ); 
	}
	m_robot1_vl = ReturnOrder ( n[1] ).x ;
	m_robot1_vr = ReturnOrder ( n[1] ).y ;

	m_robot2_vl = ReturnOrder ( n[2] ).x ;
	m_robot2_vr = ReturnOrder ( n[2] ).y ;

	m_robot3_vl = ReturnOrder ( n[3] ).x ;
	m_robot3_vr = ReturnOrder ( n[3] ).y ;

	m_robot4_vl = ReturnOrder ( n[4] ).x ;
	m_robot4_vr = ReturnOrder ( n[4] ).y ;

	m_robot5_vl = ReturnOrder ( n[5] ).x ;
	m_robot5_vr = ReturnOrder ( n[5] ).y ;
*/
	g_Deci[1].ChooseDots( g_MyTeam[1] ) ;
	m_order[1] = g_Deci[1].ComputeIndex1( g_MyTeam[1] );
	m_robot1_vl = ReturnOrder( m_order[1] ).x ;
	m_robot1_vr = ReturnOrder( m_order[1] ).y ;
	UpdateData( FALSE );
}

Vector CInfoDlg::ReturnOrder( int ActionOrder )
{
	switch( ActionOrder )
	{
	case 0:		
		{
			return Vector( 255*MAX_VELOCITY/255 , 255*MAX_VELOCITY/255 );
		}
	case 1:	
		{
			return Vector(255*MAX_VELOCITY/256 , 230*MAX_VELOCITY/256);
		}
	case 2:	
		{
			return Vector (255*MAX_VELOCITY/256 , 210*MAX_VELOCITY/256);
		}
	case 3:	
		{
			return Vector (255*MAX_VELOCITY/256,190*MAX_VELOCITY/256);
		}
	case 4:	
		{
			return Vector (-255*MAX_VELOCITY/256 , -230*MAX_VELOCITY/256);
		}
	case 5:	
		{
			return Vector (-255*MAX_VELOCITY/256 , -210*MAX_VELOCITY/256);
		}
	case 6:	
		{
			return Vector (-255*MAX_VELOCITY/256 , -255*MAX_VELOCITY/256);
		}
	case 7:	
		{
			return Vector(-230*MAX_VELOCITY/256 , -255*MAX_VELOCITY/256);
		}
	case 8:	
		{
			return Vector(-210*MAX_VELOCITY/256 , -255*MAX_VELOCITY/256);
		}
	case 9:	
		{	
			return Vector(-190*MAX_VELOCITY/256 , -255*MAX_VELOCITY/256);
		}
	case 10:	
		{
			return Vector(210*MAX_VELOCITY/256 , 255*MAX_VELOCITY/256);
		}
	case 11:	
		{
			return Vector(230*MAX_VELOCITY/256 , 255*MAX_VELOCITY/256);
		}
	case 12:	//向左转一个角度
		{
			return Vector(-255*MAX_VELOCITY/256 , 255*MAX_VELOCITY/256);
		}
	case 13:	//左转
		{
			return Vector(-255*MAX_VELOCITY/256 , 255*MAX_VELOCITY/256);
		}
		case 14:	//右转
		{
			return Vector(255*MAX_VELOCITY/256 , -255*MAX_VELOCITY/256);
		}
		case 15:	//停止
		{
			return Vector( 0 , 0 ) ;
		}
		default:
			return Vector( -1, -1 );	
	}
	return Vector( -1 ,-1 );
}

void CInfoDlg::OnOnestep() 
{
	// TODO: Add your control notification handler code here
	g_MyTeam[1].SimpleAction( m_order[1] );
}

void CInfoDlg::OnTurnandmove() 
{
	// TODO: Add your control notification handler code here
	unsigned char command2 ;
	command2 = Player::TurnToExact( g_Ball.m_vPos ) ;
	m_command = command2 ;
//	m_command.
	UpdateData( FALSE ) ;
//	Player::MoveToExact( g_Ball.m_vPos ) ;
}


void CInfoDlg::OnSend() 
{
	// TODO: Add your control notification handler code here
	Player::SendSingleCommand2( 1 ,m_command, 1 );
}

void CInfoDlg::OnTimeControlSend() 
{
	// TODO: Add your control notification handler code here
	//老版本，根据时间来控制角度，算法实现
	g_MyTeam[1].Set_vL( -250 ) ;
	g_MyTeam[1].Set_vR( 250 ) ;
	g_MyTeam[1].SendCommand( m_controltime );
}